共 35 条
Driver and automation cooperation approach for share steering control system
被引:3
作者:
Li, Xueyun
[1
]
Wang, Yiping
[1
,3
]
Su, Chuqi
[1
]
Gong, Xinle
[2
]
Huang, Jin
[2
]
Liu, Xun
[1
]
Yuan, Xiaohong
[1
]
Wang, Shixuan
[1
]
机构:
[1] Wuhan Univ Technol, Hubei Key Lab Adv Technol Automot Components, Wuhan 430070, Peoples R China
[2] Tsinghua Univ, Sch Vehicle & Mobil, Beijing 100084, Peoples R China
[3] Wuhan Univ Technol, Hubei Res Ctr New Energy & Intelligent Connected V, Wuhan 430070, Peoples R China
来源:
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
|
2023年
/
360卷
/
11期
基金:
中国国家自然科学基金;
关键词:
PATH;
VEHICLES;
MODEL;
D O I:
10.1016/j.jfranklin.2023.05.019
中图分类号:
TP [自动化技术、计算机技术];
学科分类号:
0812 ;
摘要:
The interferences and drivers' maloperations are important factors affecting vehicle driving safety. This paper investigates the problem of authority allocation to weaken the impact of interferences and drivers' maloperations on the shared steering control system. Based on the parallel framework of the shared steering control system, an extended framework including the upper level and the lower lever is proposed. The lower lever is used to realize the shared steering control, which includes the driver model, trajectory tracking controller and vehicle model. To improve the robustness of the system, the uncertainty of vehicle dynamics parameters is considered in the trajectory tracking controller, including tire cornering stiffness and longitudinal velocity. The upper level is used to calculate the authority level of the driver and controller required by the lower lever, which consists of an authority dynamic allocation model and an authority allocation decision strategy. The role of the authority dynamic allocation model is to calculate the reference allocation level of the driver and controller dynamically. When the driver's operation and vehicle working states are trustworthy, the reference allocation levels of the driver and controller will be followed. Conversely, a decision result will be gained by the authority allocation decision strategy to replace the reference allocation levels, and the sum of the authority levels of the driver and the automation will not be fixed as 1. The simulation results show that the proposed approach can effectively improve vehicle driving safety, anti-interference and reliability, and can effectively reduce the impact of crosswind and driver's maloperation on vehicle safety, and alleviate the driver's operation load.& COPY; 2023 The Franklin Institute. Published by Elsevier Inc. All rights reserved.
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页码:7269 / 7293
页数:25
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